3D Feature Extraction and Modelling for SLAM

Paper submitted to the 39th International Symposium on Robotics ISR 2008, Seoul, South Korea, October 15-17, 2008.

Active Foreground Region Extraction and Tracking for Sports Video Annotation

Automatic video segmentation plays a vital role in sports videos annotation. This paper presents a fully automatic and computationally efficient algorithm for analysis of sports videos. Various methods of automatic shot boundary detection have been proposed to perform automatic video segmentation. These investigations mainly concentrate on detecting fades and dissolves for fast processing of the entire video scene without providing any additional feedback on object relativity within the shots. The goal of the proposed method is to identify regions that perform certain activities in a scene. The model uses some low-level feature video processing algorithms to extract the shot boundaries from a video scene and to identify dominant colours within these boundaries. An object classification method is used for clustering the seed distributions of the dominant colours to homogeneous regions. Using a simple tracking method a classification of these regions to active or static is performed. The efficiency of the proposed framework is demonstrated over a standard video benchmark with numerous types of sport events and the experimental results show that our algorithm can be used with high accuracy for automatic annotation of active regions for sport videos.

Automatic extraction of syntactic semantic patterns for multilingual resources

In this paper we present an automatic system for the extraction of syntactic semantic patterns applied to the development of multilingual processing tools. In order to achieve optimum methods for the automatic treatment of more than one language, we propose the use of syntactic semantic patterns. These patterns are formed by a verbal head and the main arguments, and they are aligned among languages. In this paper we present an automatic system for the extraction and alignment of syntactic semantic patterns from two manually annotated corpora, and evaluate the main linguistic problems that we must deal with in the alignment process.

Real-time 3D semi-local surface patch extraction using GPGPU

Feature vectors can be anything from simple surface normals to more complex feature descriptors. Feature extraction is important to solve various computer vision problems: e.g. registration, object recognition and scene understanding. Most of these techniques cannot be computed online due to their complexity and the context where they are applied. Therefore, computing these features in real-time for many points in the scene is impossible. In this work, a hardware-based implementation of 3D feature extraction and 3D object recognition is proposed to accelerate these methods and therefore the entire pipeline of RGBD based computer vision systems where such features are typically used. The use of a GPU as a general purpose processor can achieve considerable speed-ups compared with a CPU implementation. In this work, advantageous results are obtained using the GPU to accelerate the computation of a 3D descriptor based on the calculation of 3D semi-local surface patches of partial views. This allows descriptor computation at several points of a scene in real-time. Benefits of the accelerated descriptor have been demonstrated in object recognition tasks. Source code will be made publicly available as contribution to the Open Source Point Cloud Library.

Reduction of emerging micropollutants, organic matter, nutrients and salinity from real wastewater by combined MBR–NF/RO treatment

To study the possibility of producing better water quality from municipal wastewater, a membrane bioreactor (MBR) pilot plant with flat sheet (FS) and hollow fiber (HF) membranes coupled with another pilot plant equipped with nanofiltration (NF)/reverse osmosis (RO) membranes were operated to treat municipal wastewater from the wastewater treatment plant (WWTP) Rincón de León, Alicante (Spain). This study was focused on improving the quality of the permeate obtained from the MBR process when complemented by NF or RO stages with respect to salinity, organic matter and nutrients. Furthermore, the removal efficiencies of 10 EMPs were evaluated, comparing the reductions achieved between the wastewater treatment by MBR (adsorption to sludge and biodegradation) and the later treatment using NF or RO (mainly size exclusion). The results showed that the high quality of water was obtained which is appropriate for reuse with salinity removal efficiencies higher than 97%, 96% for total organic carbon (TOC), 91% for nitrates View the MathML sourceNO3- and 99% for total phosphorous (TP). High removal efficiencies were obtained for the majority of the analyzed EMP compounds.

Marine debris occurrence and treatment: A review

Marine debris produces a wide variety of negative environmental, economic, safety, health and cultural impacts. Most marine litter has a very low decomposition rate (as plastics, which are the most abundant type of marine debris), leading to a gradual, but significant accumulation in the coastal and marine environment. Along that time, marine debris is a significant source of chemical contaminants to the marine environment. Once extracted from the water, incineration is the method most widely used to treat marine debris. Other treatment methods have been tested, but they still need some improvement and so far have only been used in some countries. Several extraction and collection programs have been carried out. However, as marine debris keep entering the sea, these programs result insufficient and the problem of marine debris will continue its increase. The present work addresses the environmental impact and social aspects of the marine debris, with a review of the state of the art in the treatments of this kind of waste, together with an estimation of the worldwide occurrence and characteristics.

Importance of the Support Properties for Immobilization or Purification of Enzymes

Immobilization and purification of enzymes are usual requirements for their industrial use. Both purification and immobilization have a common factor: they use a solid activated support. Using a support for enzyme purification means having mild conditions for enzyme release and a selective enzyme–support interaction is interesting. When using a support for immobilization, however, enzyme desorption is a problem. The improvement of enzyme features through immobilization is a usual objective (e.g., stability, selectivity). Thus, a support designed for enzyme purification and a support designed for enzyme immobilization may differ significantly. In this review, we will focus our attention on the requirements of a support surface to produce the desired objectives. The ideal physical properties of the matrix, the properties of the introduced reactive groups, the best surface activation degree to reach the desired objective, and the properties of the reactive groups will be discussed.